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Refactor and up to date filters for Betaflight 3.4

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This commit is contained in:
Miguel Angel Mulero Martinez 2018-06-04 13:51:46 +02:00
parent ba968fe940
commit 3be244e7a5
6 changed files with 413 additions and 144 deletions
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48
src/js/msp/MSPHelper.js
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@ -822,20 +822,29 @@ MspHelper.prototype.process_data = function(dataHandler) {
}
break;
case MSPCodes.MSP_FILTER_CONFIG:
FILTER_CONFIG.gyro_soft_lpf_hz = data.readU8();
FILTER_CONFIG.dterm_lpf_hz = data.readU16();
FILTER_CONFIG.yaw_lpf_hz = data.readU16();
FILTER_CONFIG.gyro_lowpass_hz = data.readU8();
FILTER_CONFIG.dterm_lowpass_hz = data.readU16();
FILTER_CONFIG.yaw_lowpass_hz = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
FILTER_CONFIG.gyro_soft_notch_hz_1 = data.readU16();
FILTER_CONFIG.gyro_soft_notch_cutoff_1 = data.readU16();
FILTER_CONFIG.gyro_notch_hz = data.readU16();
FILTER_CONFIG.gyro_notch_cutoff = data.readU16();
FILTER_CONFIG.dterm_notch_hz = data.readU16();
FILTER_CONFIG.dterm_notch_cutoff = data.readU16();
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
FILTER_CONFIG.gyro_soft_notch_hz_2 = data.readU16();
FILTER_CONFIG.gyro_soft_notch_cutoff_2 = data.readU16();
FILTER_CONFIG.gyro_notch2_hz = data.readU16();
FILTER_CONFIG.gyro_notch2_cutoff = data.readU16();
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
FILTER_CONFIG.dterm_filter_type = data.readU8();
FILTER_CONFIG.dterm_lowpass_type = data.readU8();
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
FILTER_CONFIG.gyro_hardware_lpf = data.readU8();
FILTER_CONFIG.gyro_32khz_hardware_lpf = data.readU8();
FILTER_CONFIG.gyro_soft_lpf_hz = data.readU16();
FILTER_CONFIG.gyro_lowpass2_hz = data.readU16();
FILTER_CONFIG.gyro_lowpass_type = data.readU8();
FILTER_CONFIG.gyro_lowpass2_type = data.readU8();
FILTER_CONFIG.dterm_lowpass2_hz = data.readU16();
}
}
break;
@ -1455,19 +1464,28 @@ MspHelper.prototype.crunch = function(code) {
break;
case MSPCodes.MSP_SET_FILTER_CONFIG:
buffer.push8(FILTER_CONFIG.gyro_soft_lpf_hz)
.push16(FILTER_CONFIG.dterm_lpf_hz)
.push16(FILTER_CONFIG.yaw_lpf_hz);
.push16(FILTER_CONFIG.dterm_lowpass_hz)
.push16(FILTER_CONFIG.yaw_lowpass_hz);
if (semver.gte(CONFIG.apiVersion, "1.20.0")) {
buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_1)
.push16(FILTER_CONFIG.gyro_soft_notch_cutoff_1)
buffer.push16(FILTER_CONFIG.gyro_notch_hz)
.push16(FILTER_CONFIG.gyro_notch_cutoff)
.push16(FILTER_CONFIG.dterm_notch_hz)
.push16(FILTER_CONFIG.dterm_notch_cutoff);
if (semver.gte(CONFIG.apiVersion, "1.21.0")) {
buffer.push16(FILTER_CONFIG.gyro_soft_notch_hz_2)
.push16(FILTER_CONFIG.gyro_soft_notch_cutoff_2)
buffer.push16(FILTER_CONFIG.gyro_notch2_hz)
.push16(FILTER_CONFIG.gyro_notch2_cutoff)
}
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
buffer.push8(FILTER_CONFIG.dterm_filter_type);
buffer.push8(FILTER_CONFIG.dterm_lowpass_type);
}
if (semver.gte(CONFIG.apiVersion, "1.39.0")) {
buffer.push8(FILTER_CONFIG.gyro_hardware_lpf)
.push8(FILTER_CONFIG.gyro_32khz_hardware_lpf)
.push16(FILTER_CONFIG.gyro_lowpass_hz)
.push16(FILTER_CONFIG.gyro_lowpass2_hz)
.push8(FILTER_CONFIG.gyro_lowpass_type)
.push8(FILTER_CONFIG.gyro_lowpass2_type)
.push16(FILTER_CONFIG.dterm_lowpass2_hz);
}
}
break;